JP2000045323A - Position detecting device of underground continuous wall excavator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To increase degree of accuracy of measurement in the case a position of an underground continuous wall excavator suspended to bore downward nearly vertical direction is detected by length of a measuring wire connected to the excavator and a tilt angle. SOLUTION: A position detecting device is equipped with a rod 6 borne on a holder in a state to swivel forward, backward and sideways with the upper end as a supporting point. It is equipped with a measuring wire 10 having one end connected to the lower end of the rod 6 in a detachable manner and reaching a winch through a pulley provided to an excavator from the lower end of the rod 6. A position of the excavator is calculated from a tilt angle of the rod 6 and a length let out from the winch of the measuring wire 10 or measured value of a depth measuring instrument provided to a crane suspending the excavator. The rod 6 is fixed to the measuring wire 10 with an anchor 20. By the constitution, the position of the measuring wire 10 detachable to the rod 6 is prevented from being slipped, error of measurement in the tilt angle is reduced, and the position of the excavator can be detected with high degree of accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underground continuous wall excavator for detecting the position of an excavator in order to control the course of the excavator when the excavator is hung from the ground and excavated vertically. The present invention relates to a position detecting device for a wall excavator.

[0002]

2. Description of the Related Art Generally, in the construction of underground diaphragm walls,
A deep trench is excavated in the ground. One of the excavators used for the excavation is an underground continuous wall excavator 1 (for example, a horizontal multi-axis drum cutter type excavator) as shown in FIG. It has been known. The excavator 1 is suspended by a wire 2 by a crawler crane or the like, and digs down the ground. At this time, the traveling direction of the excavator 1 may be slightly shifted from the vertical direction. So
The traveling direction of the excavator 1 is controlled.

In controlling the traveling direction of the excavator 1, it is necessary to determine the deviation of the traveling direction of the excavator 1, that is, the current position of the excavator 1. Therefore, conventionally, FIG.
5, a position detecting device 3 as shown in FIG. The position detecting device 3 is swingably connected to a gantry 4 installed on the ground with an upper end portion as a fulcrum, and a rod 6 in a suspended state and an inclination measuring device 7 for measuring an inclination angle of the rod 6.
And a measuring wire 10 from the lower end of the rod 6 to the winch 9 via the pulley 8 of the excavator 1.

The position detecting device 3 is provided with a depth measuring device 11 for measuring the depth of the excavator 1 from the length of the measuring wire 10 sent from the winch. Also,
The crawler crane that suspends the excavator 1 is also provided with a depth measuring device that determines the depth of the excavator 1 from the length of the wire used to suspend the excavator 1. According to such a position detecting device 3, when the rod 6 and a portion of the measuring wire extending from the rod 6 to the pulley 8 extend in the vertical direction, the course of the excavator 1 is If it deviates from the planned course along the vertical direction, the measuring wire 10 and the rod 6 will be integrally inclined.

At this time, the inclination angle of the rod 6 measured by the inclination measuring device 7 and the feeding length of the measuring wire 10 determined by the depth measuring device 11 or the measurement by the depth measuring device of the crawler crane described above. From the values, it is possible to calculate the current position of the upper end of the excavator 1 and the horizontal displacement from the planned course of the excavator. Further, the position of the lower end portion of the excavator 1, that is, the position of the portion corresponding to the cutting edge of the excavator 1 can be calculated from the inclination angle measured by an inclinometer (not shown) installed in the excavator 1.

In addition, one end of the measuring wire 10 is not directly connected to the gantry 4 so as to swing freely, but the measuring wire 1 is connected via the rod 6 whose upper end is swingably connected as described above.
0, and by measuring the inclination angle of the measuring wire 10 and the rod 6 at the portion of the rod 6 which is a rigid body, the flexible measuring wire 10
The inclination angle can be measured more accurately than when the inclination angle is directly measured.

[0007]

As described above, basically, the inclination angle of the rod 6 (measuring wire 10) and the feeding length of the measuring wire 10 or the measured value of the depth measuring device of the crawler crane described above. In the case where the position of the excavator 1 is calculated from the following, when the excavator 1 and the position detecting device 3 are largely separated from each other, a slight error in the inclination angle
There is a possibility that the position of the excavator 1 may have a large error along the horizontal direction.

Therefore, it is necessary to accurately measure the inclination angle of the rod 6 (measurement wire 10), and in order to maintain the accuracy, installation of the position detecting device 3 and other operations are troublesome. In order to further improve the excavation accuracy, it is necessary to improve the measurement accuracy of the position detection of the excavator 1.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and saves handling work including installation of a position detecting device while maintaining the accuracy of position detection of the excavator 1, and also reduces the position of the excavator 1 It is an object of the present invention to provide a position detection device for an underground continuous wall excavator capable of further improving detection accuracy.

[0010]

According to the first aspect of the present invention, when excavating using an underground continuous wall excavator suspended from the ground and excavating substantially vertically downward, a base installed on the ground includes: A rod swingably supported on the upper end as a fulcrum, and one end is detachably connected to the lower end of the rod, and is provided on the gantry from a lower end of the rod via a pulley provided on the excavator. A measuring wire which reaches the winch and the other end of which is wound around the winch, the inclination angle of the rod, the length of sending out the measuring wire from the winch, and a device for suspending the excavator A position detection device for an underground continuous wall excavator that calculates a position of the excavator from at least one of a measurement value of a depth measurement device that measures a depth of the excavator, the rod being provided on the rod. Detachable A rod fixing portion connected to the rod, and a wire fixing portion detachably connected near a joint of the measurement wire with the rod, and a rod to which these rod fixing portions are connected; It is characterized in that a fixture is provided in which the rod fixing part and the wire fixing part are integrally formed so that the measuring wire to which the fixing part is connected is arranged substantially in a straight line.

According to the above configuration, the play of the joint between the rod and the measurement wire caused by connecting the measurement wire to the rod in a detachable manner, not fixedly, causes the position of the measurement wire with respect to the rod during measurement. Can be prevented from deviating in the range of the play by the fixing tool, the measurement error of the inclination angle of the rod caused by the deviation can be eliminated, and the detection accuracy of the position of the excavator can be improved. Further, the rod fixing portion of the fixing tool is detachably connected to the rod,
Since the wire fixing portion is detachably connected to the measuring wire, the fixing tool can be removed from the rod and the measuring wire. Accordingly, the measurement accuracy can be improved while the fixing tool does not hinder the removal of the measurement wire from the rod, and the measurement wire that is a consumable can be easily replaced.

That is, if the measuring wire is fixedly connected to the rod, the above-described error can be eliminated. However, when the measuring wire is replaced, the rod must be replaced. In addition, it takes time and effort to remove the measuring wire together with the rod, and the cost is increased by replacing the rod.However, by using the above-mentioned fixing tool, labor saving and cost reduction of maintenance can be achieved. In this state, the accuracy of excavator position detection can be improved. Incidentally, it is not always necessary to integrally form the rod fixing part and the wire fixing part from the beginning, and after manufacturing the rod fixing part and the wire fixing part, respectively, by joining the rod fixing part and the wire fixing part, A fixture may be formed.

According to a second aspect of the present invention, when excavation is performed using an underground continuous wall excavator suspended from the ground and digging substantially vertically downward, a gantry installed on the ground is swung about an upper end portion as a fulcrum. A movably supported rod, one end of which is connected to a lower end of the rod, the lower end of the rod reaches a winch provided on the gantry via a pulley provided on the excavator, and the other end thereof A measuring wire wound on the winch, the inclination angle of the rod, the length of the measuring wire sent out from the winch, and the depth of the excavator provided on a device for suspending the excavator. A position detection device of an underground continuous wall excavator that calculates the position of the excavator from at least one of the measured values of a depth measurement device that measures Comprising a mouth guide frame shape to be installed in sea urchin ground, and a position detecting device body having the cradle,
After the mouth guide is installed on the ground, the main body of the position detecting device is installed on the ground in a state of being positioned along the outer peripheral portion of the mouth guide.

According to the above construction, after the frame-shaped mouth guide, which can be provided relatively light, is installed, the position detecting device main body can be installed by positioning along the outer peripheral portion of the mouth guide. This makes it easier and more accurate to install the heavy-weight position detecting device main body having the gantry provided with the above than the direct installation corresponding to the position of the excavator. Therefore, by being able to accurately and easily install the position detection device main body, while maintaining the position detection accuracy of the excavator,
Installation work of the position detecting device main body can be saved.

According to a third aspect of the present invention, when excavating with an underground continuous wall excavator suspended from the ground and digging substantially vertically downward, a gantry installed on the ground and a cradle extending forward from the gantry. The extruded portion, a rod swingably supported on the extended portion with the upper end as a fulcrum, and one end detachably connected to the lower end of the rod, and the excavator is connected to the lower end of the rod by the lower end. To a winch provided on the pedestal via a pulley provided at the other end, and a measuring wire wound around the winch at the other end, and provided at the extending portion, and upward from the pulley of the excavator. A guide pulley for guiding the measuring wire toward the winch of the gantry from the extending portion, an inclination angle of the rod, a sending length of the measuring wire from the winch, and a device for suspending the excavator. Provided in A position detection device for an underground continuous wall excavator that calculates a position of the excavator from at least one of measured values of a depth measurement device that measures a depth of the excavator, wherein the extension portion is on a gantry side. The guide wire can be moved back and forth so as to be drawn in, and can be moved in accordance with the forward and backward movements of the extension portion. A moving pulley for changing the distance between the guide pulley and the winch, which moves together with the extending portion when the extending portion moves back and forth, so that a distance of a path of the measurement wire from the guiding pulley to the winch is kept substantially constant. The path of the measurement wire is changed.

[0016] According to the above configuration, since the extension portion to be extended on the excavator can be moved back and forth so as to be drawn into the gantry side, the extension portion is retracted when the excavator is pulled up. By retracting the excavator, the passage of the excavator to be lifted can be opened, and the excavator passage can be opened more easily than retreating the entire position detecting device.
In addition, when the extension portion is moved back and forth, the guide pulley provided on the extension portion also moves back and forth, and the distance of the measurement wire path between the guide pulley and the winch varies. Therefore, the measuring wire in a state of being pulled with a certain tension so as not to be loosened may be loosened or pulled with a tension larger than the certain tension. Therefore, it is necessary to control the winch in accordance with the forward and backward movements of the extending portion, and take up or send out the measuring wire. According to the present invention, the moving pulley is required to correspond to the extending portion. By moving, the distance of the path of the measuring wire from the guide pulley to the winch can be kept substantially constant, so that it is not necessary to control the winch in accordance with the forward and backward movement of the extension, and the front and rear of the extension The control in the movement can be made easy.

According to a fourth aspect of the present invention, there is provided an excavator using an underground continuous wall excavator suspended from the ground and excavating substantially vertically downward, a gantry installed on the ground and a cradle extending forward from the gantry. A protruding extension portion, a rod supported by the extension portion so as to be swingable with an upper end portion as a fulcrum, and one end connected to the lower end portion of the rod, and provided to the excavator from the lower end portion of the rod. A winch provided on the pedestal via the pulley provided, and a measuring wire wound around the winch at the other end, the inclination angle of the rod, and the sending of the measuring wire from the winch Of an underground continuous wall excavator that calculates the position of the excavator from at least one of a length and a measurement value of a depth measurement device that measures a depth of the excavator and that is provided in a device that suspends the excavator. Position detection device The extending portion, is pivotally connected to the frame, characterized in that the extending length of the extending portion from the frame by the rotation of the extending portion can be changed.

According to the above configuration, as described above, when the excavator is lifted, the extension portion can be rotated and retracted instead of moving the extension portion backward when retracting the extension portion. It is possible to reduce the size of the position detecting device as compared with the case where the extending portion is provided so as to be movable back and forth. Also, when digging a curved ditch to build a curved underground continuous wall,
When the position detecting device is disposed straight with respect to the excavator 1, the underside of the position detecting device is already excavated, and the width of the support for supporting the position detecting device on the groove is slightly wider than the width of the groove. In this case, since the groove below the position detecting device is curved, there is a high possibility that one corner is located inside the groove on the rear side of the support base of the position detecting device. Therefore, it is necessary to support the position detecting device so that the position detecting device does not fall into the groove, for example, by increasing the width of the support base.

On the other hand, if the position detecting device is arranged obliquely along the curve of the groove with respect to the excavator, the position detecting device can be supported on the groove without increasing the width of the support table. Since the XY directions in the measurement of the inclination angle of the position detection device deviate from the XY directions of the excavator, it is necessary to calculate the excavator position by correcting the measurement data in the excavator position detection.

On the other hand, according to the present invention, the position detecting device is disposed obliquely to the excavator along the curvature of the groove, and the position detecting device is disposed on the groove without increasing the width of the support base. However, if the extension portion on which the rod for measuring the inclination angle is arranged is rotated to match the orientation of the inclination measuring device for measuring the inclination angle of the rod of the extension portion, the inclination angle can be adjusted. Of the excavator does not deviate from the XY direction of the excavator. Therefore, it is not necessary to increase the width of the support base corresponding to the curved groove, and it is not necessary to correct the direction of data, so that it is possible to reduce costs and save labor in detecting the position of the excavator. .

According to a fifth aspect of the present invention, when excavating using an underground continuous wall excavator suspended from the ground and excavating substantially vertically downward, a base installed on the ground swings around an upper end portion as a fulcrum. A freely supported rod, one end of which is connected to the lower end of the rod, and from the lower end of the rod to a winch provided on the gantry via a pulley provided on the excavator, and the other end side A measuring wire wound around the winch, the inclination angle of the rod, the sending length of the measuring wire from the winch, and the depth of the excavator provided on the device for suspending the excavator. An underground continuous wall excavator position detecting device that calculates the position of the excavator from at least one of the measured values of the depth measuring device to measure, and the position of the fulcrum of the rod is pulley When the excavator is on the planned course, the measuring wire is arranged obliquely shifted from the vertical direction, and the position of the fulcrum of the rod is arranged in a state where the position is shifted in the horizontal direction. A horizontal wall distance between the excavator and the position of the pulley of the excavator is known.

According to the above configuration, when the measuring wire is inclined, even when tension is applied to the measuring wire,
The measurement wire may be bent by its own weight, and the measurement wire is bent, and the measured value is smaller than the measured value of the inclination angle when it is assumed that the measurement wire is linear without bending. turn into. That is, an error occurs due to the bending of the measurement wire, but if the wire is slanted from the time when the measurement is started as described above, only the error is obtained when the position of the excavator is not horizontally displaced. Can be measured.

In measuring the error, the known horizontal wall distance between the position of the fulcrum of the rod and the position of the pulley of the excavator, the feed length of the measuring wire or suspending the excavator. From the depth of the excavator (depth of the pulley of the excavator) that can be measured by the depth measuring device provided in the device, the inclination of a straight line connecting the fulcrum and the pulley is calculated, and the calculated value is compared with the actual value. If you find the difference from the measured value,
This causes an error due to the bending of the measuring wire. And
By knowing the error, it is possible to know the reliability of the measured value, and if the measured value is corrected using the error, the accuracy of the measurement can be improved.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will now be described with reference to the drawings. FIG. 1 shows a state in which the position of the excavator 1 is detected by using the position detection devices 15, 15 of the underground continuous wall excavator of the first example. Position detection device 1 of first example
The rods 5 and 15 are swingably connected to the gantry 4 installed on the ground with the upper end portion as a fulcrum, and are in a suspended state (shown in FIG. 2).
A tilt measuring device (not shown) for measuring the tilt angle of the rod 6, and a measuring wire 10 extending from the lower end of the rod 6 to the winch (not shown) via the pulleys 8, 8 of the excavator 1. It is a thing.

The position detecting devices 15 and 15 are provided with a depth measuring device (not shown), similarly to the position detecting device of the conventional example, and a crawler crane (not shown and a device for suspending the excavator 1). , Depth measuring device (not shown) as before
Are provided, and either of the measured values may be used in detecting the position of the excavator 1. The gantry 4 supports a rod support (not shown) that supports the rod 6 swingably at its fulcrum, the winch, and the measurement wire 10 from the pulleys 8, 8 of the excavator 1 to the winch. Stand 4 to guide
And a frame (not shown) that supports them and a casing 4a that covers them.

A part of the rod 6, the rod support, the inclination measuring device, and the pulley are arranged on the extension 4b of the gantry 4. The extending portion 4b extends forward from the front surface of the main body of the gantry 4, and the rod 6 extends so as not to contact the main body of the gantry 4.
And the measuring wire 10 is made to hang downward. In the position detection devices 15 of the first example, the connection between the rod 6 and the measurement wire 10 is different from the position detection device of the conventional example.

FIG. 2 shows a joint portion between the rod 6 and the wire 10. At the lower end of the rod 6, two support pieces 6a, 6a are formed so as to extend downward. Also, one pin 6b is attached to the support pieces 6a, 6a.
Are formed in the two support pieces 6a, 6a simultaneously and horizontally. On the other hand, a ring portion 10 having a hole through which the pin 6b can be inserted is provided at the upper end of the measurement wire 10.
a is formed.

Then, the two support pieces 6a, 6 of the rod 6
a, the ring portion 10a of the measurement wire 10 is disposed between the two support pieces 6a, 6a, and the positions of the holes of the ring portion 10a correspond to the positions of the holes of the two support pieces 6a, 6a.
And a ring portion 10a with a single pin 6b penetrating therethrough. The pin 6b has a head 6b1 having a larger diameter than the holes of the support pieces 6a, 6a, and a shaft 6 serving as a pin body.
b2, and an insertion hole is formed at the tip of the shaft portion 6b2.

Then, as shown in FIG. 2, the shaft 6b1 of the pin 6b is inserted into the holes of the support pieces 6a, 6a and the ring 10a to prevent the shaft 6b2 of the pin 6b from coming off. By screwing the pin 6c, the support pieces 6a, 6
a and the ring portion 10a are pin-connected, and the pin 6b is prevented from coming off.
The interval between the two support pieces 6a, 6a is slightly larger than the thickness of the ring portion 10a so that the ring portion 10a is sandwiched between the support pieces 6a, 6a. .

The diameter of the holes of the support pieces 6a, 6a and the diameter of the hole of the ring 10a are slightly larger than the diameter of the shaft 6b1 of the pin 6b so that the shaft 6b1 of the pin 6b can be inserted. It has what has. Therefore, as described above, in a state where the rod 6 and the measuring wire 10 are joined by the pin 6b, there is a possibility that the ring portion 10a slightly moves along the pin 6b between the two support pieces 6a, 6a. is there. In addition, there is a possibility that the pin 6b moves in a direction perpendicular to the axial direction in the holes of the support pieces 6a, 6a,
There is a possibility that the ring portion 10a moves in a direction perpendicular to the axial direction of the pin 6b with respect to the pin 6b. That is, there is play at the joint between the rod 6 and the measurement wire.

The movement of the measuring wire 10 with respect to the rod 6 as described above at the joint between the rod 6 and the measuring wire 10 is performed by moving the measuring wire 1 at the rod 6 portion.
In the measurement of the tilt angle of 0, an error is generated, although very slightly. However, a slight difference in the inclination angle between the rod 6 and the measuring wire 10 results in a relatively large displacement in the horizontal direction in the excavator 1 which has excavated to a deep position. preferable.

If, for example, the rod 6 and the measuring wire 10 are fixedly and integrally joined by welding or other methods, the measuring wire 10 is slightly attached to the rod 6 as described above. Although it is possible to easily prevent a situation in which the excavator 1 moves, the measuring wire 10 is pulled so that a predetermined tension is applied in order to prevent the excavator 1 from being bent by its own weight as much as possible. Since the measurement wire 10 is fatigued, it may be cut when the measurement wire 10 is fatigued, and the measurement wire 10 needs to be periodically replaced, for example. Therefore, the measurement wire 10
Need to be detachably connected to the rod 6 so that they can be easily replaced.

That is, it is preferable that the measuring wire 10 is a consumable item, needs to be replaced, and can be easily removed from the rod 6. When the rod 6 and the measurement wire 10 are detachably connected to each other, the measurement wire 1 may be used regardless of the connection method described above.
In order to attach and detach 0, a certain amount of play is required at the joint, and it is difficult to prevent the measurement wire 10 from slightly moving with respect to the rod 6.

Therefore, in the first example, the rod 6 and the measuring wire 10 are fixed by the fixture 20 shown in FIG. 2 to prevent the measuring wire 10 from moving with respect to the rod 6. . As shown in FIGS. 2 (A) and 2 (B), the fixing device 20 has a shape obtained by dividing a basically cylindrical member into two by a dividing surface along a center line along the axial direction. And is composed of two divided bodies 21, 21.

A first groove 22 having an inner diameter substantially equal to the outer diameter of the rod 6 and for holding the rod 6 is provided on the divided surface side of the divided bodies 21 and 21. Groove 22
And a second groove 23 for accommodating a joint between the rod 6 and the measuring wire 10 having an inner diameter larger than that of the first groove 22, and continuous with the second groove 23. A third groove 24 having an inner diameter larger than that of the measurement wire 10 and accommodating an upper end portion of the measurement wire 10 following the joint with the rod 6;
And a fourth groove 25 having an inner diameter substantially equal to the outer diameter of the measuring wire 10.

Then, the first groove 22 and the second groove 2
3, the third groove 24 and the fourth groove 25
21 is formed into a hole having a substantially circular cross section, and the center line of the hole formed by the grooves 22, 23, 24, 25 is formed by joining the two divided bodies 21, 21 to each other. And the axis of the fixture 20. The hole formed by the first groove 22 opens on the upper end surface of the fixture 20, the hole formed by the fourth groove 25 opens on the lower end surface of the fixture 20, and the first groove 22 22,
The holes formed by the second groove 23, the third groove 24, and the fourth groove 25 are in a state of communicating with each other.

In the fixture 20 in which the two divided bodies 21 and 21 are joined, the outer diameter of the upper part 20a is larger than the outer diameter of the lower part 20b. Also, each of the two divided bodies 21 and 21 has a plurality of bolt holes 26.
Are formed, and bolts 26 (not shown) can pass through the two divided bodies 21 and 21 in the bolt holes 26 of the two divided bodies 21 and 21 in a state where the two divided bodies 21 and 21 are joined. Thus, they are arranged at corresponding positions.

Further, two bolt holes 26 are arranged on the left and right of at least the first groove 22 and the fourth groove 25, respectively. Then, the first grooves 22 of the divided bodies 21 and 21 of the fixture 20 are made to correspond to the lower end of the rod 6, and the joint between the rod 6 and the measurement wire 10 is made to correspond to the second groove 23. The two divided bodies 21 and 21 are joined so that the upper part of the wire 10 below the joint with the rod 6 may correspond to the third and fourth grooves 24 and 25 so as to surround the rod 6 and the measurement wire 10. At the same time, by inserting a bolt (not shown) into each bolt hole 26 and screwing a nut (not shown) into the bolt, the divided bodies 21 and 21 are fastened to each other, and the rod 6 and the measuring wire 10 are connected to each other. The fixing tool 20 can be attached to the joint part of the.

In the fixture 20, when the two divided bodies 21 and 21 are completely brought into close contact with each other, the first divided body 21 starts from the deepest position of the first groove 22 of the other divided body. The shortest distance to the deepest position of one groove 22 is made smaller than the outer diameter of the rod 6, and the fourth distance of the other divided body from the deepest position of the fourth groove 25 of one divided body 21. The shortest distance to the deepest position of the groove 25 is smaller than the outer diameter of the measuring wire 10.

Therefore, when the fixing member 20 is attached to the joint between the rod 6 and the measuring wire 10 by fastening the divided bodies 21 and 21 as described above, the first fixing member 20 The portion of the groove 22 is detachably connected to the rod 6 to form a rod fixing portion, and the fourth groove 25 of the fixing device 20 is formed.
Is detachably connected to the vicinity of the joint portion of the measurement wire 10 with the rod 6 to form a wire fixing portion. Then, the rod fixing portion and the wire fixing portion are fixed to the fixture 20.
The rod 6 joined to the rod fixing portion of the fixture 20 and the fixture 2
The position of the measurement wire 10 bonded to the wire fixing portion 0 is fixed.

At this time, the position of the rod 6 and the measuring wire 10 is fixed by the fixture 20 so as to be arranged in a straight line. By fixing the positions of the rod 6 and the measurement wire 10 as described above, the measurement wire 10 is attached to the rod 6 at the detachable joint between the rod 6 and the measurement wire 10. Is not displaced even by a small amount, and when the inclination angle of the rod 6 that swings integrally with the measuring wire 10 is measured, no error occurs due to the displacement.

Accordingly, the position detecting devices 15, 1 of the excavator 1
5 can improve the measurement accuracy in the position detection. Note that the shape of the fixing tool 20 is not limited to the above, and the rod fixing part for fixing the position of the rod 6 and the wire fixing part for fixing the position of the measuring wire 10 may be used. And measuring wire 1
0 can be detachably fixed in the vicinity of the joint between the rod 6 and the measuring wire 10, and the rod fixing portion and the wire fixing portion are integrally connected. Just do it.

Then, the position detecting device 15,
The method of detecting the position of the excavator 1 by the use of the excavator 1 is basically the same as the conventional method.
The position of the position detecting devices 15 and 15 is obtained based on the length from the fulcrum of the swingable rod 6 to the pulley 8 of the excavator 1 obtained from the feeding length of the excavator 1. In the first example, unlike the position detection device of the conventional example, one position detection device 15 is arranged on each of the left and right sides of the excavator 1. That is, two position detecting devices 15 and 15 are used to detect the position of the excavator 1, and the positions of two left and right points in the upper part of the excavator 1 are obtained.

As described above, by determining the positions of the left and right two points, when the excavator 1 is displaced so as to rotate left and right, the rotation angle can be measured. When the position of the excavator 1 is measured using the two position detection devices 15 and 15 as described above, the excavator 1 is disposed on the left and right sides of the excavator 1 along the underground continuous wall to be constructed. The position detecting devices 15 and 15 that have been placed are in a state of being arranged. Therefore, there is a possibility that the position detection devices 15 and 15 may be arranged on a trench already excavated for constructing an underground continuous wall. In this case, the position detection devices 15 and 15 are previously constructed on the left and right peripheral portions of the trench, respectively. The support bases 16, 16 are arranged so as to straddle between left and right concrete guide walls (not shown), and the support bases 16, 16 support the position detecting devices 15, 15 on the already dug grooves. It is supposed to.

Next, a second embodiment of the present invention will be described with reference to the drawings. FIGS. 4 and 5 show the position detecting device 30 of the second example, and FIG. 6 shows the mouth guide 31 of the position detecting device 30 of the second example. As shown in FIGS. 4 and 5, the position detection device 30 of the second example has a position detection device main body 32 having the same configuration as the position detection device 15 of the first example,
32, a support base 16 capable of supporting the position detecting device main bodies 31, 31 on a groove 29 to be excavated (shown by phantom lines in FIG. 5),
16 and the base guides 31 for positioning the support bases 16, 16 and the position detecting device main bodies 32, 32 connected to the support bases 16, 16.

That is, in the second example, a position detecting device main body 32 similar to the position detecting devices 15 and 15 of the first example,
The position detecting device 30 includes a support base 16 for mounting the position detecting device main bodies 32, 32, and a mouth guide 31 for determining an installation position of the position detecting device main bodies 32, 32. As described above, the position detection device main bodies 32, 32 of the second example are different from the position detection devices 15, 1 of the first example.
5, and the description thereof is omitted.

Also, the position detecting device main bodies 32, 3 of the second example
Similarly to the position detection devices 15 and 15 of the first example, the excavator 2 is arranged along the groove 29 to be excavated (the underground continuous wall to be constructed) and on the left and right sides of the excavator 1. The position of two points on the left and right of the upper part of 1 can be measured simultaneously. The support bases 16, 16 are similar to the support bases 16, 16 of the first example, and are, for example, rectangular frames made of a steel material such as an H-shaped steel. The width of the support bases 16 is larger than the width of the groove 29 to be excavated, and as described above, the support bases 16 are hung over the left and right guide walls G formed at the left and right edges of the groove 29. It is arranged in the state where it was done.

The above-mentioned support bases 16 and 16 can be used, for example, even when the opening of the groove 29 excavated to construct a curved underground continuous wall becomes curved.
In order to be able to cope with it, the width of the groove to be excavated is set to be considerably larger than the width of the groove 29 to be excavated. May be widened along the edge of the groove 29 as the distance from the excavator 1 increases.

The mouth guide 31 is a rectangular frame formed by assembling steel materials, the width of which is wider than the groove to be excavated, and the opening inside the frame is inserted into the excavator 1. It has a possible size. The mouth guide 31 is arranged orthogonally to the length direction of the groove 29 to be excavated, and is placed between the left and right guide walls G formed on the left and right edges of the groove 29. Two vertical frame members 33, 33, and horizontal frame members 34, 34 orthogonal to the vertical frame members 33, 33 and arranged along the length direction of the groove 29 to be dug. It is.

The space between the horizontal frame members 34, 34 is slightly wider than the width of the groove 29 to be excavated. The distance between the vertical frame members 33, 33 is determined by the position of the upper support members 16, 16 when the front edges of the support tables 16, 16 are brought into contact with the vertical frame members 33, 33 from outside the mouth guide 31. Detection device body 3
The position of the rod 6 extending from the excavator 1 and the position of the pulley 8 disposed above the excavator 1 correspond to each other.

The vertical frame members 33, 33 are provided in FIG.
As shown in FIG.
6 and two pins 35... Serving as references for positioning the position detecting device main bodies 32, 32 are respectively provided upright.
Further, the vertical frame members 33, 33 can be joined by welding or the like to anchors (not shown) in which the lower portions are embedded in left and right guide walls G, G formed at the left and right edges of the upper surface opening of the groove 29. Thus, the mouth guide 31 can be fixed to the opening of the groove 29 to be dug.

The horizontal frame members 34, 34 are not directly joined to the left and right guide walls G, G of the groove to be excavated, but are joined via the vertical frame members 33, 33. At the same time, the horizontal frame members 34, 34 and the vertical frame members 33, 33 are joined by a detachable joining method such as fastening with bolts, and the vertical frame members 33, 33 are joined to the left and right guide walls G, G. By connecting to the anchor of the mouth guide 3
1 is fixed to the guide walls G, G, and the horizontal frame members 34, 3
By removing at least one of the four from the vertical frame members 33, 33, at least one of the horizontal frame members 34, 34 can be removed from the guide walls G, G.

Thus, for example, the depth of the groove 29,
In the case where the state of the inner wall surface of the groove 29 is not measured by an ultrasonic measuring device (not shown), the ultrasonic measuring device can be easily arranged at the edge of the opening of the groove 29 by removing the horizontal frame member 34. can do. When the excavator 1 excavates, the inside of the trench 29 being excavated is filled with a stable liquid such as bentonite water, and the depth of the trench 29 and the excavator 1
In order to measure the depth or the like, an ultrasonic measuring device is used instead of an optical measuring device.

Next, a method of installing the above-described position detecting device 30 on the groove 29 to be excavated will be described. First, as shown in FIG. 6, the mouth guide 31 is arranged so as to bridge between the left and right guide walls G, G of the portion to be the opening of the groove 29 to be excavated, and corresponds to the arrangement position of the excavator 1. To a position where At this time, for example, a mark indicating the installation position of the lip guide 31 is written on the upper surfaces of the guide walls G, G, and the lip guide 31 is set in accordance with the mark. Then, as described above, the lip guide 31 is fixed to the guide walls G, G using the anchor.

Next, the position detecting device main bodies 32, 32 connected to the support bases 16, 16 are positioned in accordance with the lip guide 32, and straddle the groove 29 to be excavated on the left and right guide walls G, G. Installed in At this time, the support bases 16 and 1
For example, two pins 3 of the mouth guide 31 are provided in the center of the front surface side of the position detection device main bodies 32, 32, respectively.
A reference member (not shown) corresponding to 5 is provided, and the reference member is located between the two pins 35 (for example, when viewed from the front side of the support base 16 and the position detection device main body 32, The reference member is moved between the two pins 35, 35) and the front edge of the support 16 is brought into contact with the vertical frame members 33, 33 of the mouth guide 31. Thus, the support base 16 and the position detection device main body 32 can be installed in a state where they are positioned.

That is, when positioning the position detecting device main body 32, the front edge of the support 16 connected to the position detecting device main body 32 is pushed against the vertical frame member 33 of the lip guide 31 fixed to the guide walls G, G. In this way, the front and rear positions of the position detection device main body 32 can be easily determined. In this state, the position detecting device main body 32 is moved so that the reference member is disposed between the two pins 35 of the vertical frame member 33, so that the left and right positions of the position detecting device main body 32 are adjusted. It can be easily determined. Then, after positioning the position detection device main bodies 32, 32 and the support bases 16, 16, the support bases 16, 16 are mounted on the left and right guide walls G, G, for example, anchors whose lower portions are embedded in the guide walls G, G. Use and fix.

According to the installation method of the position detecting device 30 as described above, when positioning the lip guide 31, the lip guide 31 is a frame made of a steel material and has a position including the winch, the casing, the support 16 and other members. Since it is considerably lighter than the detection device main body 32, even if it is lifted and arranged by a crane, it is easier to position the mouth guide 31 than to position and install the position detection device main body 32. Can be installed.

After the mouth guide 31 is installed, the position detecting device main body 32 can be easily positioned using the mouth guide 31 as described above. That is, conventionally, it often takes time and effort to position the heavy position detection device 30 so that the position of the rod 6 of the position detection device 30 and the position of the pulley 8 of the excavator 1 are matched. Although it sometimes took a long time to install the position detecting device 30, the position detecting device 3 was
By setting 0, it is not necessary to take time to position the position detection device 30, and it is possible to save labor and shorten the installation time in the installation work of the position detection device 30.

When the position of the rod 6 of the position detecting device 30 and the position of the pulley 8 of the excavator 1 need to be accurately adjusted, the position detecting device 30 requires XY.
A rod position adjuster (not shown) is provided for finely adjusting a portion of the slide table that supports the fulcrum of the rod 6 in a swingable manner in the X-axis direction and the Y-axis direction (directions orthogonal to each other in a horizontal plane). Therefore, it is only necessary that the position detecting device main bodies 32 can be set within a range where the position of the rod 6 can be adjusted by the rod position adjusting unit.

Next, a position detecting device for an underground diaphragm excavator according to a third embodiment of the present invention will be described with reference to the drawings. FIG. 7 shows a third example of the position detection device 40 according to the embodiment of the present invention. As shown in FIG. 7, the position detection device 40 of the third example is basically the same as the position detection device 15 of the first example, and swings on the gantry 4 installed on the ground using the upper end as a fulcrum. A rod 6 which is freely connected and suspended, an inclination measuring device (only the case is shown) 41 for measuring an inclination angle of the rod 6, and a pulley (not shown) of the excavator 1 from the lower end of the rod 6. And the measurement wire 10 that reaches the winch 42 through the wire.

The position detecting device 40 is provided with a depth measuring device (not shown), similarly to the position detecting device 15 of the first example, and a crawler crane (not shown, a device for suspending the excavator 1). As in the related art, a depth measuring device (not shown) is provided, and either of the measured values may be used in detecting the position of the excavator 1. In the position detection device 40, the fixing tool 20 of the first example is used, and the positioning and positioning of the position detection device 40 is performed using the lip guide 31 of the second example in the same manner as in the second example. It can be installed.

The position detecting device 40 is provided with a control panel 43 for controlling various parts of the position detecting device 40 and for inputting / outputting data. Is transmitted to an external base machine (not shown). The base machine is equipped with a computer system that calculates the position and orientation of the position detection device 40 from the measurement data, and stores and displays the input or calculated data.

The position detecting device 40 of the third example has a slide portion 46 that moves back and forth with respect to the gantry 4 by the hydraulic cylinder 43. The driving of the slide portion 46 back and forth is not limited to the hydraulic pressure. The slide section 46
Is a rod support (not shown) that supports the rod 6 so that it can swing at its fulcrum, and a slide pulley (guide pulley) on which the measuring wire 10 connected to the winch 42 is hung.
47 and the inclination measuring unit 41. That is, the slide portion 46 is configured such that the extension portion 4b of the first example can slide back and forth.

The slide pulley 47 guides the measurement wire 10 upward from the pulley 8 of the excavator 1 so as to face the winch. Also,
In FIG. 7, the portion of the measurement wire 10 from the rod 6 to the pulley 8 of the excavator 1 and the portion of the measurement wire 10 from the pulley 8 of the excavator 1 to the slide pulley 47 are shown in an overlapping state. Have been. Then, the slide portion 46
When the position of the excavator 1 is detected, the rod 6 and the measuring wire extend from the rod support portion toward the excavator 1 when the position of the excavator 1 is detected.
In order to secure the passage of the excavator 1 to be lifted by retracting to the gantry 4 side and evacuating when lifting the excavator 1.

The excavator 1 can be lifted not only at the stage when the excavation is completed but also when the excavator 1 is maintained or when the excavation is interrupted at night or the like. And, the rod support part and the slide part pulley 47,
In order to match the positions of the pulley 8 of the excavator 1 with the positions of the rod 6 and the slide pulley 47, the excavator 1 needs to extend on the upper and lower courses. There is a need.

From the slide pulley 47 to the winch 42
The measurement wire 10 leading to the slide part pulley 47
, The gantry upper fixed pulley 48, the moving pulley 49, and the gantry lower fixed pulley 50. The gantry upper fixed pulley 48 is disposed at an upper front portion inside the gantry 4 and guides the measurement wire 10 from the slide section pulley 47 to the gantry upper fixed pulley 48 substantially horizontally. .

The movable pulley 49 is fixed to the gantry upper fixed pulley 48 so as to be movable back and forth in response to the forward and backward movement of the slide portion 46.
And the lower part of the gantry lower fixed pulley 50, and by moving it back and forth, the path of the measuring wire 10 between the sliding part pulley 47 of the measuring wire 10 and the winch 42 is described later. The length is kept constant. The gantry lower fixed pulley 50 guides the measurement wire 10 from the movable pulley 49 to the gantry lower fixed pulley 50 toward the winch 42 side.

The moving pulley 49 is basically only required to be supported so as to be able to move back and forth. Even if it can be moved linearly back and forth, it can move back and forth along an arc. However, here, for example, a movable pulley 49 is attached to a link piece (not shown) that is rotatable with respect to a fixed fulcrum, and is movable in an arc shape back and forth. .

Further, the moving pulley 49 is
In conjunction with the movement of 6, the slide pulley 47 and winch 4
It is necessary to move the measurement wire 10 so that the length of the path of the measurement wire 10 is kept constant, and it is preferable to provide a link mechanism for linking the link piece and the slide portion 46. It should be noted that the moving pulley 4 is linked to the movement of the sliding portion 46.
The mechanism for moving 9 is not limited to a mechanical link mechanism, but may be a mechanism for electrically interlocking using a control device.

Next, the operation of the position detecting device 40 having the slide portion 46 and the moving pulley 49 as described above will be described. As described above, when the excavator 1 is lifted, the rod support portion and the slide portion pulley 47 can be retracted by moving the slide portion 46 having the rod support portion and the slide portion pulley 47 back and forth. There is a method of retracting the entire gantry 4 (substantially all of the position detecting device 40) by setting the entire gantry 4 back and forth so as to be movable back and forth. And a driving device having a large driving force for moving the gantry 4 having a large weight and having a large number of members including the winch 42 for moving the rack 4 back and forth. It is necessary to move the slide portion 46 back and forth, so that the position detection device 40 can be made compact.

However, when only the slide portion 46 is moved back and forth, as shown in FIG. 8, only the slide portion 46 provided with the slide pulley 47 moves back and forth, and the winch 42 does not move back and forth. , The slide section pulley 47
The path of the measuring wire 10 between the wire and the winch 42 becomes longer or shorter. Therefore, for example, when moving the slide portion 46 back and forth, the winch 42
Is controlled so as to interlock with the movement of the slide portion 46, and in order to prevent the measurement wire 10 from being loosened due to the shortened path, the measurement wire 10 is wound up and the path is lengthened. Measurement wire 1
In order to prevent a large tension from acting on zero and prevent the slide portion 46 from being pulled by the measurement wire 10 and becoming unable to move forward, the measurement wire 10 needs to be sent out.

On the other hand, as described above, the slide portion 4
By moving the movable pulley 49 back and forth in response to the forward and backward movement of the gantry 6, as shown in FIG.
And the measuring wire 10 between
Can be shortened or lengthened, so that the distance of the measurement wire 10 from the slide pulley 47 to the winch 42 can be kept constant as described below. Slide part pulley 47 (slide part 46)
Is retracted, the slide pulley 47 and the gantry upper fixed pulley 48 approach each other, and these pulleys 47,
The path of the measurement wire 10 between the 48 is shortened.

Therefore, with the movable pulley 49 disposed between the gantry upper fixed pulley 48 and the gantry lower fixed pulley 50, the gantry upper fixed pulley 48 is hung with the measuring wire 10 hung.
By moving the pulley 49 away from the gantry lower fixed pulley 50 (here, the moving pulley 49 is largely retracted), the path of the measurement wire 10 between the gantry upper fixed pulley 48 and the gantry lower fixed pulley 50 is lengthened. Keep it. And
When the slide unit pulley 47 (slide unit 46) is advanced from this state, the path of the measurement wire 10 becomes longer by moving the slide unit pulley 47 away from the gantry upper fixed pulley 48. Upper fixed pulley 4
By moving the pulley 8 closer to the gantry lower fixed pulley 50 (here, the moving pulley 49 is advanced), the measurement wire 1 between the gantry upper fixed pulley 48 and the gantry lower fixed pulley 50 is moved.
By shortening the path of zero, the distance of the path of the measurement wire 10 from the slide pulley 47 to the winch 42 can be kept constant when the slide part 46 is advanced.

When the slide portion 46 is retracted from this state, the moving pulley 49 is moved away from the gantry upper fixed pulley 48 and the pedestal lower fixed pulley 50, as opposed to the case where the slide portion 46 is advanced. Measuring wire 1 between the gantry upper fixed pulley 48 and the gantry lower fixed pulley 50
The length of the path of the measurement wire 10 from the slide pulley 47 to the winch 42 can be kept constant by lengthening the path of zero. As described above, by moving the moving pulley 49 in accordance with the forward and backward movement of the slide portion 46, even if the slide portion pulley 47 of the slide portion 46 is moved forward and backward with the winch 42 fixed, the winch 42 The distance of the path of the measuring wire 10 from the slide pulley 47 can be kept constant.

Accordingly, there is no need to control the winch 42 in accordance with the forward / backward movement of the slide portion 46 to take up or send out the measurement wire 10, and it is possible to easily control the movement of the slide portion 46. . In addition, moving pulley 4
By connecting the movable pulley 49 mechanically with the movement of the slide part 46 by connecting the slide part 46 with the slide part 46 by a link mechanism, the longitudinal movement of the slide part 46 can be more easily controlled. . In addition, even if the movement of the movable pulley 49 is electrically controlled, it can be controlled more easily than the winch 42 is controlled.

Next, a position detecting device 50 of an underground diaphragm excavator according to a fourth embodiment of the present invention will be described with reference to the drawings. FIGS. 10 and 11 show a position detection device 50 of a fourth example of an underground continuous wall excavator. 10 and 1
As shown in FIG. 1, the position detecting device 50 of the fourth example has a rotating unit 51 attached to the gantry 4 instead of the slide portion 46 of the position detecting device 40 of the third example. In addition, the rotating part 51 is such that the extending part 4b of the first example can be rotated left and right.

The position detecting device 50 of the fourth example has the same basic structure as the position detecting device 15 of the first example and the position detecting device 40 of the third example except for the rotating mechanism of the rotating unit 51. The description other than the rotation unit 51 is omitted.
In addition, the mouth guide 31 of the second example may be used to install the position detection device 50 of the fourth example, or the joint between the rod 6 and the measurement wire 10 of the position detection device 50 of the fourth example may be used. An example of the fixture 20 may be used.

In the position detecting device 50 of the fourth example, as shown in FIGS. 10 and 11, an inclination measuring device (only the case is shown) 41, a rod 6 (not shown in FIGS. 10 and 11), A rod support (not shown), a pulley (not shown) for winding the measurement wire 10 from the pulley 8 of the excavator 1 to the winch 42 (not shown in FIGS. 10 and 11), and the like; Basically, a device similar to the slide portion 46 of the position detection device 40 of the third example is provided.

The rotating part 51 is provided with a cylindrical part 52.
And a projecting portion 53 in which a part of the outer peripheral surface of the cylindrical portion 52 projects outside the outer periphery. And the rotating part 5
1 is a shaft (not shown) projecting upward at the front of the gantry 4
Are rotatably fitted to the left and right. That is, the cylindrical portion 52 of the rotating portion 51 is rotatably fitted to the shaft. The cylindrical portion 52 is driven to rotate by a driving device (not shown). Also,
The outer diameter of the cylindrical portion 52 is the outer diameter of a portion of the rotating portion 51 excluding the projecting portion 53, and the cylindrical portion 52 on the gantry 4
Is designed so that its outer peripheral portion does not project much forward from the front surface of the gantry 4.

The projection 53 is provided with the inclination measuring device 4.
1, a rod 6, a rod supporting portion, a pulley for winding the measuring wire 10, and the like are arranged.
When the projecting portion 53 is directed forward of the position detecting device 50 by the rotation of the rotating portion 51, the projecting portion 53 extends forward from the front surface of the gantry 4. The rod 6 and the measuring wire 10 can be extended downward toward the excavator 1. In addition, by rotating the rotating part 51 so that the protrusion 53 is directed to the side of the gantry 4, the amount of protrusion of the protrusion 53 from the front of the gantry 4 can be reduced.

In the rotating section 51, the excavator 1
The measurement wire 10 passes from the pulley 8 to the winch 42 inside the gantry 4. The measurement wire 10 enters the rotating unit 51 from an opening (not shown) formed on the lower surface of the protrusion 53, It is guided by a pulley (not shown), enters the cylindrical portion 52 from the projecting portion 53, and then enters the inside of the gantry 4.
Pass through the shaft (not shown) for rotatably supporting the shaft. That is, the shaft has a cylindrical shape, and the measurement wire 10 can be inserted into the gantry 4 from the rotating unit 51 through the rotation center of the rotating unit 51.

Further, the measuring wire 1 that has entered the inside of the gantry 4
Numeral 0 is guided to the winch 42 side by a pulley (not shown) below the center of rotation of the rotating section 51. Since the measuring wire 10 passes from the rotating portion 51 to the gantry 4 through the rotation center of the rotating portion 51, the measuring wire 10 from the projecting portion 53 of the rotating portion 51 to the winch 42 inside the gantry 4. The distance of the path of the wire 10 hardly changes even if the rotating part 51 is rotated left and right.

Next, a method of using the position detecting device 50 of the fourth example and its operation will be described. According to the position detection device 50 of the fourth example, by rotating the rotating unit 51,
By changing the protruding portion 53 of the rotating portion 51 from the state facing the front of the gantry 4 to the state facing the side of the gantry 4, the amount of protrusion of the protruding portion 53 from the front surface of the gantry 4 can be reduced. Therefore, when the excavator 1 is pulled up, the course of the excavator 1 can be secured.

That is, according to the position detecting device 50 of the fourth example, the sliding portion 4 is provided like the position detecting device 40 of the third example.
By rotating the rotating part 51 without retreating the excavator 1 or retreating the entire position detecting device, it is possible to secure a course when the excavator 1 is pulled up, so that the excavator 1 slides back and forth. Rather, the size of the position detecting device 50 can be reduced. In addition, as described above, the wire from the pulley 8 of the excavator 1 to the winch 42 is caused to pass from the rotation unit 51 to the inside of the gantry 4 through the rotation center of the rotation unit 51, so that the protrusion 5
It is possible to prevent the distance of the path of the measurement wire 10 from 3 to the winch 42 from fluctuating due to the rotation of the rotating unit 51.

Therefore, by rotating the rotating part 51, when the excavator 1 is lifted and the rod 6, the rod supporting part, the pulley and the like are to be evacuated, the movable pulley 49 as in the position detection device 40 of the second example is used. The distance of the path of the measuring wire 10 can be kept constant by moving the
It is not necessary to take up or send out the measuring wire by using, and the control at the time of evacuation can be made easier.

Further, since the rod supporting portion and the inclination measuring device 41 of the rod 6 can be rotationally moved, for example, FIG.
As shown in the figure, when forming the groove 29 in a curved state in order to form the underground continuous wall in a curved state, the mounts 4, 4 of the position detection mechanisms 50, 50 are inclined with respect to the excavator 1. Even if it is arranged, the rotating parts 52, 52 are rotated to
3 and 53 can be directed straight to the excavator 1, so that even when the gantry 4 is directed obliquely to the excavator 1, the tilt measuring device 41 of the rotating unit 51 is directed straight to the excavator 1. be able to. Although the excavator 1 is not shown in FIG. 12, the excavator 1 is below the inside of the mouth guide 31, and the direction of the excavator 1 is the same as the mouth guide 31.

The tilt measuring device 41 cannot be rotated. For example, according to the position detecting device 40 of the third example, the X direction in the measurement of the tilt angle of the tilt measuring device 41 is set to, for example, the underground continuous wall to be constructed. When the Y direction is aligned with the length direction of the underground continuous wall, the tilt measuring device 41 cannot be rotated with respect to the gantry 4, so that the excavator 1 (mouth guide) as shown in FIG. 31) For position detection device 4
If 0 is arranged obliquely, the X direction and the Y direction of the inclination measuring device 41 will be shifted from the thickness direction and the length direction of the underground continuous wall, and when the position of the excavator 1 is detected,
The data of the tilt measuring device 41 must be corrected according to the direction of the gantry 4.

On the other hand, when the position detectors 40, 40 are directed straight to the excavator 1 (mouth guide 31) when excavating the groove 29 to be formed in a curved shape, as described above, the inclination measuring device is used. It is no longer necessary to correct the data of 41, but assuming that the width of the support bases 16, 16 of the position detecting devices 40, 40 is the same as when excavating the straight groove 29,
The corners of the support bases 16, 16 corresponding to one of the rear corners of the position detection devices 40, 40 enter the inside of the groove, and the position detection devices 40, 40 cannot be supported on the groove 29. Therefore, it is necessary to widen the width of the support bases 16 and 16 for the curved groove 29.

On the other hand, according to the position detecting devices 50 and 50 of the fourth example having the rotating portion 51 as described above, even if the position detecting devices 50 and 50 are arranged obliquely with respect to the excavator 1, By rotating the rotating unit 51, the X direction and the Y direction of the tilt measuring device 41 can be made to correspond to the excavator 1, so that it is not necessary to correct the data of the tilt measuring device 41.

The position detectors 50, 50 are connected to the excavator 1
When the position detecting device 50 is arranged on the curved groove 29 as described above, there is no problem that the data of the inclination measuring device 41 is corrected even if the position detecting device , 50 can be arranged along the groove 29. Therefore, it is not necessary to widen the width of the support bases 16, 16 of the position detection devices 50, 50 for the curved grooves 29. That is, the calculation in the position detection can be made easy, and the wide support bases 16, 16 for the curved groove 29 need not be used, so that the cost of the position detection devices 50, 50 can be reduced. Can be planned.

Next, a fifth embodiment of the present invention will be described with reference to the drawings. FIG. 13 shows a fifth example of the position detection devices 60 and 60. The position detection device 60 of the fifth example shown in FIG.
Reference numeral 60 has a configuration similar to that of the position detection device of the above-described first example, and a fixing part 20 of the first example is attached to the joint between the rod 6 (not shown in FIG.
May be attached.

The position detecting devices 60 and 60 may be positioned and installed using the mouth guide 31 of the second example in the same manner as in the case of the second example. Further, the extension 4a of the position detecting devices 60, 60 is connected to the position detecting device 40 of the third example.
The moving distance of the path of the measuring wire 10 in the gantry 4 is changed by the longitudinal movement of the moving pulley 49 in the same manner as in the third example, regardless of the longitudinal movement of the extension part 4a. It may be kept constant. Further, the position detecting devices 60 and 60 have the same configuration as the fourth example, and
May be rotated.

Then, the fifth example of the position detecting devices 60, 60
In FIG. 13, as shown in FIG. 13, the pulley 8 of the excavator 1 (the junction between the measurement wire 10 and the excavator 1) is located below the fulcrum of the rod 6 along the vertical direction, that is, directly below the rod 6. The pulley 8 is not disposed so as to be displaced from a position below the fulcrum of the rod 6 that is swingably supported along the vertical direction, and the measurement wire 10 is It is slightly displaced from the direction and is in an oblique state.

That is, X in the horizontal plane of the fulcrum of the rod 6
This means that the position on the Y coordinate and the position on the XY coordinate of the horizontal plane of the junction of the measurement wire 10 connected to the rod 6 with the excavator 1 are displaced in the horizontal direction. The amount of displacement in the horizontal direction, that is, the horizontal distance between the fulcrum of the rod 6 and the junction of the measurement wire 10 connected to the rod 6 with the excavator 1 is known. In the fifth example, the pulley 8 of the excavator 1 is disposed in a direction away from the position detecting device 60 than the fulcrum of the rod 6.

Next, the operation of the fifth example of the position detecting devices 60 will be described. According to the fifth example of the position detecting devices 60, 60, the excavator 1 is located at a position shifted from immediately below the fulcrum of the rod 6.
Since the pulley 8 is arranged and the measuring wire 10 is not in the vertical direction but in an inclined state, as shown in FIG. 14, the measuring wire 10 is in a state where it is pulled by a predetermined tension. Even if it does, it will bend slightly.

Therefore, when the inclination angle of the rod 6 connected to the upper end of the measurement wire 10 is measured, the inclination angle is determined by the fulcrum of the rod 6 and the pulley 8 (that is, the measurement wire 10 and the excavator 1). Is smaller than the angle of inclination of the straight line connecting to Further, the distance along the horizontal direction between the fulcrum of the rod 6 and the junction of the measurement wire 10 connected to the rod 6 with the excavator 1 and the junction of the excavator 1 from the fulcrum of the rod 6 To the excavator 1
If the depth of the straight line is known, the inclination angle of the straight line can be obtained,
As described above, the horizontal distance between the fulcrum and the junction is known, and the depth of the excavator 1 is determined from the length of the wire 10 for measurement or the measured value of the depth measuring device of the crawler crane described above. Therefore, the inclination angle of the straight line is obtained.

Then, by calculating the difference between the measured value of the inclination angle of the rod 6 and the inclination angle of the straight line determined as described above, an error due to the bending of the measuring wire 10 can be obtained. By the way, the position of the pulley 8 and the position of the fulcrum of the rod 6 are determined so that the horizontal distance between the fulcrum of the rod 6 and the junction of the measurement wire 10 connected to the rod 6 with the excavator 1 is zero. However, if the position of the excavator 1 is displaced in the horizontal direction during excavation and the inclination angle of the rod 6 increases from a state of 0 along the vertical direction, the measuring wire 10 As a result, the measuring wire 10 is bent by its own weight as described above, and the measured value of the inclination angle of the rod 6 includes the above-described error.

On the other hand, by setting the measuring wire 10 to be inclined in advance as described above, when the excavator 1 is not displaced in the horizontal direction, the bending due to the own weight of the measuring wire 10 is prevented as described above. Since the amount of error based on the current measurement value is obtained, it is possible to know how much error is included in the current measurement value. Further, if the error is obtained as described above, it is possible to correct the error of the measured value.

In the above-described state, when the inclination angle of the rod 6 is measured and the position of the excavator 1 is calculated,
Even when the excavator 1 is not displaced in the horizontal direction, the rod 6 is inclined and the inclination angle fluctuates so as to become smaller as the excavator 1 becomes deeper. In the calculation method, it is necessary to calculate the position of the excavator 1 in consideration of the above-mentioned fluctuating inclination angle.

[0100]

According to the first aspect of the present invention, the measuring wire is not fixedly attached to the rod, but is attached and detached to the rod. The position of the measuring wire with respect to the rod is prevented from being shifted in the range of the play by the fixing tool, thereby eliminating the measurement error of the rod inclination angle caused by the shift and improving the detection accuracy of the position of the excavator. it can. Further, since the rod fixing portion of the fixing device is detachably connected to the rod and the wire fixing portion is detachably connected to the measuring wire, the fixing device can be detached from the rod and the measuring wire. Accordingly, the measurement accuracy can be improved while the fixing tool does not hinder the removal of the measurement wire from the rod, and the measurement wire that is a consumable can be easily replaced. That is, it is possible to improve the accuracy of the position detection of the excavator in a state where the labor is saved and the cost is reduced.

According to the second aspect of the present invention, after the frame-shaped mouth guide, which can be provided relatively lightweight, is installed, the position detection device body is positioned along the outer peripheral portion of the mouth guide. Can be installed more easily and accurately than a case where a heavy-weight position detecting device main body having a gantry provided with a winch or the like is directly installed corresponding to the position of the excavator. Therefore, since the position detecting device main body can be installed accurately and easily, the work of installing the position detecting device main body can be saved while maintaining the accuracy of the position detection of the excavator.

According to the third aspect of the present invention, the excavator 1
The excavator is movable forward and backward so as to pull the extension part extending upward into the gantry side. Therefore, when the excavator 1 is raised, the excavation part is retracted and evacuated, whereby the excavation raised The passage of the excavator 1 can be opened, and the passage of the excavator 1 can be opened more easily than retreating the entire position detecting device. In addition, when the extension portion is moved back and forth, the guide pulley provided on the extension portion also moves back and forth, and the distance of the measurement wire path between the guide pulley and the winch varies. As a result, the measuring wire that has been pulled with a certain tension so that it does not loosen will loosen or be pulled with a tension greater than the certain tension, and the winch is controlled according to the forward and backward movement of the extension. Then, it is necessary to take up or send out the measuring wire, but according to the present invention, the path of the measuring wire from the guide pulley to the winch by moving the moving pulley corresponding to the extension. Can be kept substantially constant, so that it is not necessary to control the winch in accordance with the forward and backward movement of the extension portion, and it is possible to easily control the forward and backward movement of the extension portion.

According to the fourth aspect of the present invention, by rotating the extending portion, the extending portion can be pulled into the gantry side and the passage of the excavator 1 to be raised can be secured. It is possible to reduce the size of the position detection device as compared with a configuration in which the position detection device is moved back and forth. Also, when excavating a curved groove, the position detection device is arranged obliquely along the curvature of the groove with respect to the excavator, so that the position detection device is arranged on the groove without increasing the width of the support base. Also, by rotating the extension portion on which the rod whose inclination angle is to be measured is arranged so that the direction of the extension portion matches the direction of the excavator, XY in the measurement of the inclination angle can be obtained.
The direction does not deviate from the XY direction of the excavator. Therefore, unlike the conventional case, it is not necessary to increase the width of the support base corresponding to the curved groove, and it is not necessary to correct the direction of the data. Can be achieved.

According to the fifth aspect of the present invention, when the measuring wire is inclined, there is a possibility that the measuring wire may be bent by its own weight even when tension is applied to the measuring wire. When the measuring wire is bent, the measured value becomes smaller than the measured value of the inclination angle when the measuring wire is assumed to be linear without bending. That is, an error occurs due to the bending of the measurement wire, but if the wire is slanted from the time when the measurement is started as described above, only the error is obtained when the position of the excavator is not horizontally displaced. Can be measured. By knowing the error, the reliability of the measured value can be known, and if the measured value is corrected using the error, the accuracy of the measurement can be improved.

[Brief description of the drawings]

FIG. 1 is a schematic side view showing a state in which a position detecting device of an underground continuous wall excavator according to a first embodiment of the present invention is used.

FIG. 2 is a cross-sectional view showing a fixture used in the position detection device of the first example.

FIG. 3 is a side view showing the fixture in a state where the position detecting device of the first example is detached.

FIG. 4 is a schematic perspective view showing a position detection device of an underground continuous wall excavator according to a second embodiment of the present invention.

FIG. 5 is a schematic plan view showing a position detection device of a second example.

FIG. 6 is a plan view showing a mouth guide of the position detection device of the second example.

FIG. 7 is a sectional view showing the inside of a position detecting device of an underground continuous wall excavator according to a third embodiment of the present invention.

FIG. 8 is a drawing for explaining the operation of the position detection device of the third example.

FIG. 9 is a drawing for explaining the operation of the position detection device of the third example.

FIG. 10 is a side view showing a position detection device of a fourth example.

FIG. 11 is a perspective view illustrating a rotating unit of a position detection device according to a fourth example.

FIG. 12 is a plan view showing an example of use of the position detection device of the fourth example.

FIG. 13 is a side view showing a fifth example of the position detection device.

FIG. 14 is a side view of a measuring wire for describing the operation of the position detection device of the fifth example.

FIG. 15 is a schematic diagram showing a conventional position detection device for an underground continuous wall excavator.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Underground wall excavator 4 Mount 6 Rod 8 Pulley of excavator 10 Measurement wire 15 Position detection device 20 Fixture 21 Split body 22 First groove (rod fixing part) of split body 25 Fourth of split body Groove (wire fixing portion) 29 Groove 30 Position detecting device 31 Mouth guide 32 Position detecting device main body 40 Position detecting device 42 Winch 46 Slide portion (extending portion) 47 Slide portion pulley (guide pulley) 49 Moving pulley 51 Rotating portion (rolling) Ide)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Toshio Oguri 1-20-10 Toranomon, Minato-ku, Tokyo Nishimatsu Construction Co., Ltd. (72) Inventor Tsutomu Tanaka 1-20-10 Toranomon, Minato-ku, Tokyo Nishimatsu (72) Inventor Takeshi Taguchi Nishimatsu Construction Co., Ltd. 1-20-10 Toranomon, Minato-ku, Tokyo

Claims (5)

[Claims] When excavating using an underground continuous wall excavator that is suspended from the ground and excavated substantially vertically downward, a rod that is swingably supported on a mount installed on the ground with an upper end portion as a fulcrum. And one end is detachably connected to the lower end of the rod, from the lower end of the rod to a winch provided on the gantry via a pulley provided on the excavator, and the other end side is the winch. A measuring wire wound around the excavator, the inclination angle of the rod, the length of the measuring wire sent out from a winch, and the depth of the excavator that is provided in a device for suspending the excavator. An underground wall excavator position detecting device for calculating the position of the excavator from at least one of the measured values of a measuring device, wherein the rod fixing portion is detachably connected to the rod, A wire fixing portion that is detachably connected in the vicinity of the joint of the wire for use with the rod, and a rod to which these rod fixing portions are connected and a measurement wire to which the wire fixing portion is connected. A position detecting device for an underground continuous wall excavator, comprising: a fixing tool in which the rod fixing portion and the wire fixing portion are integrally formed so as to be arranged on a straight line. 2. An excavator using an underground continuous wall excavator suspended from the ground and excavating substantially vertically downwards, a rod supported on a gantry installed on the ground so as to be able to swing about an upper end portion as a fulcrum. And, one end is connected to the lower end of the rod, from the lower end of the rod to a winch provided on the gantry via a pulley provided on the excavator,
The other end is provided with a measuring wire wound around the winch, the rod is inclined, the sending length of the measuring wire from the winch, and the excavator is provided with a device for suspending the excavator. An underground continuous wall excavator position detection device that calculates the position of the excavator from at least one of the measured values of a depth measurement device that measures the depth of the excavator, A frame-shaped mouth guide installed on the ground so as to surround the periphery, and a position detection device main body having the gantry, after the mouth guide is installed on the ground, the position detection device main body is the position of the mouth guide A position detection device for an underground continuous wall excavator, which is installed on the ground while being positioned along an outer peripheral portion. 3. When excavating using an underground continuous wall excavator suspended from the ground and digging substantially vertically downward, a gantry installed on the ground, an extending portion extending forward from the gantry, A rod swingably supported on the extension portion with an upper end portion as a fulcrum, and one end detachably connected to a lower end portion of the rod via a pulley provided on the excavator from the lower end portion of the rod. To the winch provided on the gantry, the other end side of the measurement wire wound around the winch, and the extension portion, while the measurement wire going upward from the pulley of the excavator, A guide pulley that guides the excavator from the extending portion to the winch of the gantry; a tilt angle of the rod; a length of the measurement wire sent from the winch; The depth of An underground continuous wall excavator position detecting device that calculates the position of the excavator from at least one of the measured values of a depth measuring device to be measured. A movable pulley that is movable and is movable in accordance with the forward and backward movement of the extension portion, and that engages with the measurement wire from the guide pulley to the winch to change the path of the measurement wire. A path of the measurement wire such that when the extension moves forward and backward, the distance of the path of the measurement wire from the guide pulley, which moves with the extension to the winch, is kept substantially constant. The apparatus for detecting the position of an underground continuous wall excavator, wherein the position is changed. 4. When excavating using an underground continuous wall excavator suspended from the ground and excavating substantially vertically downward, a gantry installed on the ground, an extending portion extending forward from the gantry, The extension portion includes a rod swingably supported on an upper end portion, and one end connected to a lower end portion of the rod, and a pulley provided on the excavator from the lower end portion of the rod through the pulley. A measuring wire that reaches the winch provided on the gantry and has the other end side wound on the winch is provided.The inclination angle of the rod, the length of the measuring wire sent out from the winch, and the excavator are provided. A position detection device for an underground continuous wall excavator that calculates a position of the excavator from at least one of measured values of a depth measurement device that measures a depth of the excavator provided in a hanging device, The extension is a stand A position detection device for an underground continuous wall excavator, wherein the extension length of the extension portion from the gantry is changeable by rotation of the extension portion. . 5. An excavator using an underground continuous wall excavator suspended from the ground and excavating substantially vertically downwards, a rod supported on a gantry installed on the ground so as to be swingable around an upper end portion as a fulcrum. And, one end is connected to the lower end of the rod, from the lower end of the rod to a winch provided on the gantry via a pulley provided on the excavator,
The other end is provided with a measuring wire wound around the winch, the rod is inclined, the sending length of the measuring wire from the winch, and the excavator is provided with a device for suspending the excavator. An underground continuous wall excavator position detection device that calculates the position of the excavator from at least one of the measured values of a depth measurement device that measures the depth of the excavator, with respect to a position of a fulcrum of the rod. The position of the pulley of the excavator is arranged at a position shifted in the horizontal direction, in a state where the excavator is on the planned course, the measurement wire is arranged obliquely shifted from the vertical direction, and, A position detection device for an underground continuous wall excavator, wherein a horizontal wall distance between a position of a fulcrum of the rod and a position of a pulley of the excavator is known.